Study on friction modeling for sizable stewart platform-based force/torque sensor
文献类型：会议论文
| 作者 | Zhao YZ(赵延治); Zhao TS(赵铁石); Wen R(温锐); Wang HG(王洪光)
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| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Biomimetics (ROBIO 2007) |
| 会议日期 | December 15-18, 2007 |
| 会议地点 | Sanya, China |
| 关键词 | force/torque sensor Stewart platform joint-friction precision screw theory |
| 页码 | 1682-1687 |
| 通讯作者 | 赵延治 |
| 中文摘要 | To further improve the precision of sizable Stewart platform-based force/torque sensor with general spherical joints in existing manufacture and calibration techniques, substituting spherical joints with three equivalent revolute joints, the paper presents the friction model of sizable parallel 6-axis force sensor with Stewart structure based on the screw theory and theory of influence coefficient. The friction influence matrix and the expressions of type I/II errors are deduced, which indicate the effect of joint-friction upon precision of measurement. Then, the graphs of type I/II errors of the parallel 6-axis force sensor under different external forces and frictional coefficient are plotted and the rule how the jointfriction affect the measuring precision is analyzed. Thus, the powerful basis and method are raised for the improvement of the precision of sizable Stewart platform-based force/torque sensor with general spherical joints. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 2 |
| 会议主办者 | IEEE Robot & Automat Soc, Shandong Univ, Chinese Univ Hong Kong, Chiba Inst Technol, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Mech Engn, ROBIO Fdn |
| 会议录 | 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-1761-2 |
| WOS记录号 | WOS:000257065801127 |
| 源URL | [http://ir.sia.cn/handle/173321/20024]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhao YZ,Zhao TS,Wen R,et al. Study on friction modeling for sizable stewart platform-based force/torque sensor[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2007). Sanya, China. December 15-18, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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